Modeling and Optimal Control of Hybrid Rigidbody Mechanical Systems

摘要

A measure differential inclusion (MDI) based modeling approach for rigidbody mechanical systems will be introduced, that can exhibit autonomous or controlled mode transitions, accompanied by discontinuities on velocity and acceleration level. The hybrid optimal control necessitates the consideration of an uncommon concept of control, namely, controls of unbounded, impulsive and set-valued type. Examples to manipulators and wheeled robots are presented.